Greetings, looking for a bit of background info for upcoming project. I have not worked with an Aux axis on a Fanuc before, however an upcoming project has us adding a servo gripper to a 410-185.

A few questions:All 30ib+ controllers ship with a 6 axis amp, correct? So this aux axis will use channel 5 of the standard amp?What is the setup process like during software install for adding the aux axis?How is that axis mastered? What is zero?With palletizing is it common to have a servo gripper setup as a “7th axis” of group 1 or a separate motion group?

If I setup the axis as a separate motion group, and set group 1&2 masks ON in a TP program what motion instructions do I use to just modify the aux axis without modifying robot position? What motion instructions do I use to do coordinated motion with aux axis and robot?

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Today at 04:29:58 PM

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So this aux axis will use channel 5 of the standard amp? Yes it could, if you want. I would. You would need special cables from Fanuc for that.What is the setup process like during software install for adding the aux axis? Basic, you need to know the motor type and the servo amp type. You need to specify if it has a brake and if so where it is connected, the load on the servo which can be estimated. You need to specify the speed, the master position, and the axis limits. You need to specify if it is rotary or linear. It is all in the manual.How is that axis mastered? What is zero? You define this. Typically the master position for a gripper is the lowest or closed position. Zero.With palletizing is it common to have a servo gripper setup as a “7th axis” of group 1 or a separate motion group. I have seen both but I think a separate motion group is better.